CN-115529554-B - Ranging method and system based on UWB technology

CN115529554BCN 115529554 BCN115529554 BCN 115529554BCN-115529554-B

Abstract

The invention discloses a ranging method and a ranging system based on UWB technology, wherein the related ranging system comprises UWB terminal equipment, UWB reference base stations and UWB interception base stations, single-side ranging is carried out between the UWB terminal equipment and the UWB reference base stations, the distance between the UWB terminal equipment and the UWB reference base stations is calculated by the UWB terminal equipment or the UWB reference base stations, the UWB interception base stations receive all data frames when the UWB terminal equipment and the UWB reference base stations carry out single-side ranging in the whole course, time stamps corresponding to the data frames of the UWB interception base stations and the UWB reference base stations are uploaded to a server, and the distances between the UWB terminal equipment and the UWB reference base stations and the UWB interception base stations are calculated by the server. According to the method, the distance between the UWB terminal equipment and the UWB reference base station can be calculated and obtained through the interaction process of the two frames between the UWB terminal equipment and the UWB reference base station, and the UWB interception base station only needs to receive the distance in the whole process, so that the distance measuring process is greatly reduced, and the throughput of air distance measurement is remarkably improved.

Inventors

XIE JINDA
HU JIANG
SUN YU
ZHUO CHANGAN
WANG LIN

Assignees

杭州品铂科技有限公司

Dates

Publication Date: 20260505
Application Date: 20220727

Claims (3)

1. The ranging method based on the UWB technology is characterized in that the ranging method is realized based on a ranging system of the UWB technology, and the ranging system comprises UWB terminal equipment, UWB reference base stations and UWB interception base stations; The ranging method comprises the following steps: s1, UWB terminal equipment actively transmits a broadcast Poll frame and records a time stamp t_poll_tx corresponding to the transmitted Poll frame; S2, the UWB reference base station and the UWB interception base station respectively receive Poll frames sent by the UWB terminal equipment, and respectively record corresponding time stamps r_poll_rx and time stamps ls_poll_rx after the Poll frames are received; S3, after receiving a Poll frame sent by the UWB terminal equipment, the UWB reference base station delays for a period of time to reply a broadcast Resp frame, and records a time stamp r_resp_tx corresponding to the reply broadcast Resp frame; S4, the UWB terminal equipment and the UWB interception base station respectively receive the broadcast Resp frame replied by the UWB reference base station, and respectively record corresponding time stamps t_resp_rx and time stamps ls_resp_rx after receiving the replied broadcast Resp frame; S5, calculating the distances from the UWB terminal equipment to the UWB reference base station and the UWB interception base station respectively according to the recorded time stamps; The step S5 further includes: the time interval between the time stamp r_resp_tx recorded by the UWB reference base station in step S3 and the time stamp r_poll_rx recorded by the UWB reference base station in step S2 is calculated as follows: , wherein R1 represents the time interval between the time stamp r_resp_tx and the time stamp r_poll_rx; The time interval between the time stamp ls_resp_rx recorded by the UWB interception base station in the step S4 and the time stamp ls_poll_rx recorded by the UWB interception base station in the step S2 is calculated as follows: , wherein D1 represents the time interval between the time stamps ls_resp_rx and ls_poll_rx; The time interval between the time stamp t_resp_rx recorded by the UWB terminal device in the step S4 and the time stamp t_poll_tx recorded by the UWB terminal device in the step S1 is calculated as follows: , wherein T1 represents the time interval between the time stamp t_resp_rx and the time stamp t_poll_tx; before the step S5, the method further comprises the steps of screening UWB interception base stations with visible distances from corresponding UWB reference base stations to participate in calculation, obtaining the distance between the UWB interception base stations and the UWB reference base stations, and calculating the flight time from the UWB interception base stations to the UWB reference base stations according to the obtained distance, wherein the flight time is expressed as follows: , wherein, tof_rsp represents the time of flight from the UWB interception base station to the UWB reference base station; Representing a distance between the UWB listening base station and the UWB reference base station; c represents the speed of light; in step S5, the method for calculating the flight time and the distance from the UWB terminal device to the UWB reference base station includes: first, the time of flight of the UWB terminal device to the UWB reference base station is calculated, expressed as: , Wherein, tof_ref represents the time of flight from the UWB terminal equipment to the UWB reference base station; then, multiplying the flight time tof_ref by the speed of light to obtain the distance from the UWB terminal device to the UWB reference base station, expressed as: , Wherein, the Representing the distance from the UWB terminal equipment to the UWB reference base station; In step S5, the method for calculating the flight time and the distance from the UWB terminal device to the UWB interception base station includes: firstly, calculating the flight time from the UWB terminal equipment to the UWB interception base station, which is expressed as: , Wherein, tof_ aim represents the flight time from the UWB terminal equipment to the UWB interception base station; then, multiplying the flight time tof_ aim by the light speed to obtain the distance from the UWB terminal equipment to the UWB interception base station, which is expressed as: , Wherein, the Indicating the distance of the UWB terminal device from the UWB listening base station.
2. The UWB-technology-based ranging method of claim 1 further comprising: s6, the UWB reference base station actively transmits the broadcast center frame and records the corresponding time stamp of the transmitted center frame ; S7, the UWB terminal equipment and the UWB interception base station respectively receive the center frames sent by the UWB reference base station, and respectively record corresponding time stamps after the center frames are received Time stamp ; S8, after receiving the center frame sent by the UWB reference base station, the UWB terminal equipment delays for a period of time to reply the broadcast Resp frame, and records a time stamp corresponding to the reply broadcast Resp frame ; S9, the UWB reference base station and the UWB interception base station respectively receive the broadcast Resp frames replied by the UWB terminal equipment, and respectively record corresponding time stamps after receiving the replied broadcast Resp frames Time stamp ; S10, calculating the distances between the UWB terminal equipment and the UWB reference base station and the UWB interception base station respectively according to the recorded time stamps.
3. The ranging method based on the UWB technology according to claim 2, wherein the distance calculation from the UWB terminal device to the UWB reference base station is calculated by the UWB terminal device or the UWB reference base station, and the distance calculation from the UWB terminal device to the UWB interception base station is calculated by a server.

Description

Ranging method and system based on UWB technology Technical Field The invention relates to the technical field of information communication, in particular to a ranging method and system based on UWB technology. Background Ultra Wideband (UWB) technology is a wireless carrier communication technology that starts with the pulse communication technology that arose in the 60 s of the 20 th century. UWB technology uses ultra-wideband pulses with extremely wide frequency spectrum for communication, so is also known as baseband communication technology, wireless carrier communication technology, and is mainly used in military radar, positioning, and low-interception/low-detection communication systems. With the rapid development and wide application of UWB technology, UWB ranging is also receiving increasing attention. In the prior art, UWB ranging is typically performed by Time of Flight (TOF) ranging, and distance is calculated by measuring the Time of Flight of UWB signals to and from two devices (base station and tag). The problem in the prior art is that in a composite ranging environment of a multi-tag multi-base station device, it is often required to perform a transceiver interaction between each tag and each base station, or perform a switching transceiver interaction between each tag and a designated base station, so as to obtain UWB ranging information. Excessive UWB air interaction can increase the information load of the air UWB, reduce the throughput of UWB data transmission and reduce the capacity of the field positioning tags. Aiming at the technical problems, the invention provides a ranging method and a ranging system based on UWB technology. Disclosure of Invention The invention aims at overcoming the defects of the prior art and provides a ranging method and system based on UWB technology. In order to achieve the above purpose, the present invention adopts the following technical scheme: The ranging system based on the UWB technology comprises UWB terminal equipment, UWB reference base stations and UWB interception base stations, wherein the UWB terminal equipment is respectively in communication connection with the UWB reference base stations and the UWB interception base stations, and the UWB reference base stations are also in communication connection with the UWB interception base stations; single-side ranging is carried out between the UWB terminal equipment and the UWB reference base station, and the distance between the UWB terminal equipment and the UWB reference base station is calculated by the UWB terminal equipment or the UWB reference base station; The UWB interception base station receives all data frames when the UWB terminal equipment and the UWB reference base station perform unilateral ranging in the whole course, and the time stamp corresponding to the data frames of the UWB interception base station and the UWB reference base station is uploaded to the server, and the distance between the UWB terminal equipment and the UWB reference base station and the distance between the UWB interception base station and the UWB terminal equipment are obtained through calculation of the server. Correspondingly, the ranging method based on the UWB technology is also provided, and comprises the following steps: s1, UWB terminal equipment actively transmits a broadcast Poll frame and records a time stamp t_poll_tx corresponding to the transmitted Poll frame; S2, the UWB reference base station and the UWB interception base station respectively receive Poll frames sent by the UWB terminal equipment, and respectively record corresponding time stamps r_poll_rx and time stamps ls_poll_rx after the Poll frames are received; s3, after receiving a Poll frame sent by the UWB terminal equipment, the UWB reference base station delays for a period of time to reply a broadcast Resp frame, and records a time stamp r_resp_tx corresponding to the reply broadcast Resp frame; S4, the UWB terminal equipment and the UWB interception base station respectively receive the broadcast Resp frame replied by the UWB reference base station, and respectively record corresponding time stamps t_resp_rx and time stamps ls_resp_rx after receiving the reply broadcast Resp frame; S5, calculating the distances between the UWB terminal equipment and the UWB reference base station and the UWB interception base station respectively according to the recorded time stamps. Further, before the step S5, the method further includes: the time interval between the time stamp r_resp_tx recorded by the UWB reference base station in step S3 and the time stamp r_poll_rx recorded by the UWB reference base station in step S2 is calculated as follows: R1=r_resp_tx–r_poll_rx where R1 represents the time interval between the time stamp r_resp_tx and the time stamp r_poll_rx. Further, the calculating the time interval between the time stamp ls_resp_rx recorded by the UWB listening base station in the step S4 and the time stamp ls_poll_rx recorded